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Device Description HG G-19603ZA | English, Revision 03 | Date: 31.03.2021

Overview

Summary

Characteristics of the magnet sensor HG G-19603ZA:

•

Magnet sensor for AGV guidance

•

Indoor / IP 54

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Digital Magnetometer

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Technology

•

For axially polarized magnet tapes,
nominal reading height 60 mm

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Interfaces
- CAN/CANopen® (data)
- USB (service & configuration)

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Three independent systems for the
detection of turnoffs, track selection via
CAN/CANopen®

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Display of operating status via 5 LEDs

The Götting KG in D-31275 Lehrte has
a certified quality management system
according to ISO 9001.

Summary of Contents for HG G-19603

Page 1: ...HG G 19603ZA Track Guidance along Magnetic Tape CAN Interface English Revision 03 Date 31 03 2021 Dev by TE Author s RAD GW Magnet Innovation through Guidance www goetting agv com Device Description...

Page 2: ...Technology For axially polarized magnet tapes nominal reading height 60 mm Interfaces CAN CANopen data USB service configuration Three independent systems for the detection of turnoffs track selection...

Page 3: ...Permanent Magnetic Interferences 17 4 2 1 Compensation of Static Magnetic Interferences 17 4 2 2 Deleting the Compensation 18 4 3 Automatic Calibration of the Track Detection 18 5 Hardware 20 5 1 LED...

Page 4: ...7 Producer Heartbeat Time 39 8 4 3 8 Identity Object 39 8 4 3 9 Receive PDO Parameter 39 8 4 3 10 Mapping RPDO_1 40 8 4 3 11 Transmit PDO_1 Parameter 40 8 4 3 12 Mapping TxPDO_1 40 8 4 3 13 8 Bit Digi...

Page 5: ...how to detect which firmware version your device has 1 2 Presentation of Information For you to be able to use your product simply and safely this device description uses consistent warning notices sy...

Page 6: ...are indicated through the use of a fixed width font Menu items and parameters are shown in cursive characters Whenever the pressing of letter keys is required for program entries the required etter ey...

Page 7: ...t sensor and quali fied to perform those tasks knows the risks posed by driverless vehicles and is trained in the necessary safety precautions to assess the safe operational state of the system All pe...

Page 8: ...ntained and dis mounted by personnel according to section 2 2 on page 7 DANGER The vehicle leaving the track Interferences as specified in section 3 2 on page 12 may lead to inaccurate outputs whereby...

Page 9: ...on page 20 The current deviation from the center of the selected track and the current level of the magnetic field are output via the CAN CANopen interface Additionally a detect signal is generated wh...

Page 10: ...the sensor in X direction above the magnetic tape crosswise to the direction of travel Figure 3 Signal paths of the outputs idealized diagram Figure 4 Dependence of the output on the height above the...

Page 11: ...have the north pole on the top The following elements are available Table 2 Order numbers magnetic tape Order no Description Notes HW MAT00003 Magnetic tape self adhesive on a roll W x H 50 x approx...

Page 12: ...sensor and tape that need to be free of ferromagnetic materials An area of 100 mm around the sensor should be free of ferromagnetic materi als Those divert the magnetic field and distort the readings...

Page 13: ...or The magnet sensor has two drill holes with a diameter of 5 mm each with which it can be mounted by putting screws through the holes We recommend the usage of non magnetizable VA screws The drill ho...

Page 14: ...ssembled on one side Connect the sensor to the vehicle control For this the connectors ST 1 and ST 2 are used The assignment of the pins is shown in section 5 2 on page 21 The following optional cable...

Page 15: ...or the detection of one resp two tracks have to be adjusted The detection of two tracks is necessary if there are to be junctions in the track A track is detected when the magnetic flux density is abo...

Page 16: ...down Then switch to the settings menu and configure the sensitivity to be approx one fifth of the sum of flux density Switch to the main menu and move the sensor diagonally to the magnetic tape Check...

Page 17: ...net sensor HG 19603 Serialnumber 123456 Firmwareversion V0 01 calibration settings compensated magnetic field system 3 system 2 system 1 0 001 mT 0 021 mT 0 059 mT 0 046 mT 0 054 mT 0 044 mT 0 013 mT...

Page 18: ...e to use the automatic con figuration In order to do so place the magnet sensor centered above the magnetic track then start the calibration see below It is still possible to manually set the pa ramet...

Page 19: ...e a single magnetic track In menu Settings choose the option Calibration Use menu entry calibrate for track detection If the compensation from section 4 2 on page 17 is in use make sure that the inter...

Page 20: ...LED Color Meaning PWR green blinks for normal operation ERR red lights up on internal error s Table 38 on page 43 TRACK green lights up when a track is detected CLIP red lights up when the magnetic fi...

Page 21: ...to supply voltage to the sensor The pins for supply voltage and supply GND are plated through thus if more than one connector is to be connected to supply voltage at the same time the supply voltage h...

Page 22: ...as to be started as shown in Figure 14 Suitable magnetic tape for turnoffs is listed in Table 2 on page 11 In addition to the main track there may only ever be one branch track in the read ing area of...

Page 23: ...d be reset shortly after the turnoff Due to optimized algorithms the magnet sensor stays centered over the chosen track during turnoffs As shown in Figure 14 at turnoffs the direction should either be...

Page 24: ...figured using the same ter minal programs see below that are used for RS 232 connections Usually the vir tual COM Port driver is installed automatically in current versions of Microsoft Win dows If th...

Page 25: ...OM port with the pins TxD RxD und GND of the magnet sensor When the connection is established success fully the main menu as shown in section 6 4 appears Sometimes it is necessary to refresh the menu...

Page 26: ...s the following information Table 8 Status displays in the main menu Status display position track position of the chosen track error Displays an error code in the event of an error A list of error co...

Page 27: ...018408 0 037207 0 456 8 47 0 9 0x01 0x00 2 0 070166 0 056494 0 196924 0 104712 0 000635 0 112964 0 087817 0 016992 0 029785 0 465 7 22 1 12 0x01 0x00 3 0 088574 0 056445 0 181519 0 095068 0 000537 0 1...

Page 28: ...th pole on the top default s section 3 1 on page 11 threshold for the detection of a single magnetic tape threshold for the detection of two magnetic tapes choose CAN configuration CAN STD CANopen set...

Page 29: ...his is needed for the commissioning The magnet sensor determines a position with X Y and Z coordinates For the track guidance only X and Z are used and output In the RAW data monitor the internal val...

Page 30: ...gram disconnect For the following steps you need the firmware as a dfu file as well as the software DfuSe by ST Microelectronics You can get the firmware file upon request from G t ting The software D...

Page 31: ...ify successful Then leave DFU mode and quit the program Figure 26 Firmware Update Leave DFU Mode Afterwards the connection in the terminal program can be re established Then start the service program...

Page 32: ...ge 28 Annotations OutputX Position of the track track deviation OutputZ Field strength 7 1 Receiving Box Default CAN ID 0x064 Length 8 byte This is the telegram that is sent from the vehicle controlle...

Page 33: ...sensor sends Table 12 CAN Structure of the CAN transmitter box Byte Data Format 1 Lowbyte OutputX 16 bit signed integer 2 Highbyte OutputX 3 Lowbyte OutputZ 16 bit signed integer 4 Highbyte OutputZ 5...

Page 34: ...n Event time 0 the so called Inhibit time can be set in the settings menu of the service program see 6 4 3 on page 28 A PDO can also be transmitted cyclically therefore the event time has to be chosen...

Page 35: ...or accessing the object directory a SDO is used It is transferred with a confirma tion that means that each reception is confirmed with a message The identifiers for read and write access are Reading...

Page 36: ...BORT_READONLY 0x06010001 Writing access to a Read only object SDO_ABORT_NOT_EXISTS 0x06020000 Object is not implemented SDO_ABORT_TRANSFER 0x08000020 At saving or loading of the param eters the signat...

Page 37: ...00 0 RO Number of Objects mapped to Receive PDO_1 1 RO Specification of Appl Object 1 0x1800 0 RO Number of entries of Transmit PDO_1 1 RW COB ID 2 RW Transmission Type C 3 RW Inhibit Time C 5 RW Even...

Page 38: ...it digital outputs 1 RW Command 0x6401 0 RO Number of 16 bit analog inputs 1 RO OutputX 0x6403 0 RO Number of 32 bit analog inputs 1 RO OutputZ 0x6F20 0 RO Number 8 bit life counter 1 RO Transmission...

Page 39: ...dex Name Typ Attr Map Default Meaning 0x1017 00 Producer Heartbeat Time Unsigned 16 RW No 0 Heartbeat time in ms ca s section 8 2 on page 35 Table 29 CANopen Identity Object Index Sub Index Name Type...

Page 40: ...ID 0x180 Node ID 02 Transmission Type Unsigned 8 RW No 255 Asynchronous event driven 03 Inhibit Time Unsigned 16 RW No 0 shortest period between transmis sions in multiples of 100 s 04 Compatibility...

Page 41: ...e 35 CANopen 16 Bit Analog Inputs transmitted in TxPDO 1 Index Sub Index Name Type Attr Map Default Meaning 0x6401 00 number of 16 bit analog inputs Unsigned 8 RO No 0x01 number of 16 bit analog input...

Page 42: ...vice is mostly maintenance free The maintenance is limited to a visual inspection of the sensor all screws sit tight cables and connectors are attached correctly If necessary update the firmware as sh...

Page 43: ...t G tting KG You will find the address on the back of this manual 10 1 Error Codes Table 38 Error codes Code Name Meaning Possible diagnosis troubleshooting 0x01 ERROR_OVERFLOW Sensor too close to mag...

Page 44: ...t 25 C without condensation Temperature ranges Operation 20 to 50 C Storage 20 to 70 C Supply voltage 24 VDC Current consumption 30 mA Connectors PWR USB M12 circular connector 5 pin A coded male CAN1...

Page 45: ...hen using an optional distance piece 14 Figure 9 Commissioning Menus of the service program 15 Figure 10 Commissioning Compensation of static magnetic interferences 17 Figure 11 Commissioning Automati...

Page 46: ...ox 35 Table 17 CANopen Structure of a command 35 Table 18 CANopen Heartbeat device mode 35 Table 19 CANopen SDO error codes 36 Table 20 CANopen Overview of the object dir communication specific entrie...

Page 47: ...Casing 44 Commissioning 15 Company names 49 Compensation 17 Configuration 15 Connection Box 24 Connection Cable 14 Connection to a PC 24 connectors 21 Copyright 49 CSV Output 27 D detection range 10 d...

Page 48: ...Range of Use 7 RAW data monitor 29 S Service Program 25 Settings 28 Software 24 spreadsheet application 28 Status displays 26 Status line 26 Symbole 6 T Technical Data 44 telegram 33 Tera Term 25 ter...

Page 49: ...if the systems are used according to the description This instruction manual has been drawn up to the best of our knowledge Installa tion setup and operation of the device will be on the customer s ow...

Page 50: ...Innovation through Guidance G tting KG Celler Str 5 D 31275 Lehrte Tel 49 0 5136 8096 0 Fax 49 0 5136 8096 80 info goetting agv com www goetting agv com www goetting agv com...

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